Control of mobile robot by using evolutionary fuzzy controller

An evolutionary fuzzy controller that drives the output parameters of fuzzy logic system in such a way that the Lyapunov function and the system is exponentially stable is presented. The output parameters of the fuzzy logic system are updated for every sampling time in an evolutionary manner. Only part of the parameters associated with the current situation are considered and, thus, the presented evolutionary fuzzy controller significantly reduces the computation time and the output parameters of the fuzzy logic systems are updated with on-line evolution. Also, in order to guarantee the stable operation of the system when the evolution is progressed, the derivative of the Lyapunov function is maintained to be negative semi-definite by introducing the supervisory control input. The presented evolutionary fuzzy controller has been successfully tested on a simulation example of a mobile robot stabilizing problem.